Regular Tcp Toolpath Moves - Universal Robots E Series Original Instructions Manual

23. Program Tab
1. Access the Program Tab and tap URCaps.
2. Select Remote TCP Move to insert an RTCP_MoveP node.
3. Select a TCP and set the motion parameters: tool speed, tool acceleration and
blend radius.
4. Tap +Toolpath to insert an RTCPToolpath node. Delete the RTCPWaypoint node
that was created by default, if it is not needed.
5. Select a toolpath file and the corresponding Remote TCP PCS fromthe drop-down
menus.
6. Adjust the motion parameters if different values are to be applied to the
RTCPToolpath node.
7. Tap Move to First Point to verify the grasped part approaches the Remote TCP as
expected.
8. Test the program in the simulation mode at a low speed to confirm the
configurations.
NOTE
You can ensure the robot motion is identical, each time the toolpath is
executed, by adding a MoveJ with a Use Joint Angles set to move to a
fixed joint configuration before executing the toolpath. See
Move on page 152

23.14.7. Regular TCP Toolpath Moves

Similar to configuring a Remote TCP Toolpath Move, a regular TCP Toolpath Move
requires the following:
• Toolpath file
• Regular TCP
• Plane Feature as a PCS
Configuring and Importing a Toolpath File
This is similar to configuring a Toolpath (see
Software on page 197) and importing Toolpath (see
PolyScope on page 197).
User Manual
Configuring a Toolpath using CAD/CAM
Importing a G-code Toolpath into
201
23.11.1.
UR5e